EP3449321A4 - Dispositif et procédé de commande de mouvement - Google Patents

Dispositif et procédé de commande de mouvement Download PDF

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Publication number
EP3449321A4
EP3449321A4 EP17790380.4A EP17790380A EP3449321A4 EP 3449321 A4 EP3449321 A4 EP 3449321A4 EP 17790380 A EP17790380 A EP 17790380A EP 3449321 A4 EP3449321 A4 EP 3449321A4
Authority
EP
European Patent Office
Prior art keywords
motion control
motion
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17790380.4A
Other languages
German (de)
English (en)
Other versions
EP3449321A1 (fr
Inventor
Simen SKOGSRUD
Thomas BOE-WIEGAARD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP3449321A1 publication Critical patent/EP3449321A1/fr
Publication of EP3449321A4 publication Critical patent/EP3449321A4/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
    • G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
    • G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/358—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/353 - G05B19/356
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/06—Automatic controllers electric in which the output signal represents a continuous function of the deviation from the desired value, i.e. continuous controllers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
    • G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
    • G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41206—Lookup table, memory with certain relationships
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41213—Lookup table for load, motor torque as function of actual position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41326—Step motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42064—Position, speed and acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Control Of Stepping Motors (AREA)
  • Control Of Velocity Or Acceleration (AREA)
EP17790380.4A 2016-04-27 2017-04-26 Dispositif et procédé de commande de mouvement Withdrawn EP3449321A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662328547P 2016-04-27 2016-04-27
PCT/US2017/029715 WO2017189774A1 (fr) 2016-04-27 2017-04-26 Dispositif et procédé de commande de mouvement

Publications (2)

Publication Number Publication Date
EP3449321A1 EP3449321A1 (fr) 2019-03-06
EP3449321A4 true EP3449321A4 (fr) 2019-05-22

Family

ID=60160032

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17790380.4A Withdrawn EP3449321A4 (fr) 2016-04-27 2017-04-26 Dispositif et procédé de commande de mouvement

Country Status (5)

Country Link
US (1) US10488842B2 (fr)
EP (1) EP3449321A4 (fr)
JP (1) JP2019530030A (fr)
KR (1) KR20190051896A (fr)
WO (1) WO2017189774A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180333908A1 (en) * 2017-05-19 2018-11-22 Edward Earl Lewis Machine for Detection of Filament Feed Error in 3D Printers
CN109343467B (zh) * 2018-11-02 2021-02-05 南京航空航天大学 一种非共振evc装置的椭圆轨迹误差控制系统
US10829114B2 (en) * 2019-02-06 2020-11-10 Ford Global Technologies, Llc Vehicle target tracking
GB2581522B (en) * 2019-02-22 2023-02-22 Marel Seattle Inc Control of step-based systems
CN110440963B (zh) * 2019-08-02 2020-07-10 山东大学 一种惯性摩擦焊机能量转化效率检测系统及方法
KR102263740B1 (ko) * 2020-10-13 2021-06-10 이상철 드론 제어 시스템
CN112799296A (zh) * 2021-01-04 2021-05-14 中钞长城金融设备控股有限公司 一种智能堆高机的控制系统及控制方法
CN113031439B (zh) * 2021-03-01 2021-08-31 哈尔滨工业大学 一种双运动台精密协同控制系统及方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4535405A (en) * 1982-09-29 1985-08-13 Microbot, Inc. Control and force-sensing method and apparatus for motors
US9205556B1 (en) * 2013-06-24 2015-12-08 Redwood Robotics, Inc. Cogging torque measurement for a robot actuator

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4769583A (en) 1987-05-01 1988-09-06 General Motors Corporation Motion control system with minimum time path generation
US5770829A (en) 1997-06-09 1998-06-23 Seiberco Incorporated General purpose position control system having recursive profile generator
US6363310B1 (en) * 2000-03-23 2002-03-26 Delphi Technologies, Inc. Apparatus and method for vehicle speed control
WO2007092466A2 (fr) * 2006-02-03 2007-08-16 Bae Systems Land & Armaments L.P. Techniques non linéaires de commande de moteur
JP5146512B2 (ja) 2010-10-13 2013-02-20 オムロン株式会社 制御装置、制御システムおよび制御方法
US9060884B2 (en) * 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US8585178B2 (en) 2011-11-30 2013-11-19 Eastman Kodak Company Carriage printer with adaptive motion control
US9041337B2 (en) 2012-05-18 2015-05-26 Linestream Technologies Motion profile generator
EP2899422B1 (fr) * 2012-09-19 2022-06-08 Yamaha Hatsudoki Kabushiki Kaisha Dispositif de commande de véhicule, véhicule et moteur
KR101461888B1 (ko) * 2013-02-28 2014-11-13 현대자동차 주식회사 하이브리드 차량의 정속 주행 제어 시스템 및 방법

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4535405A (en) * 1982-09-29 1985-08-13 Microbot, Inc. Control and force-sensing method and apparatus for motors
US9205556B1 (en) * 2013-06-24 2015-12-08 Redwood Robotics, Inc. Cogging torque measurement for a robot actuator

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
ATEF T. MASSOUD: "What Engineers and Customers Need from a Motion Control System - Tech Briefs", TECHBRIEFS.COM, 1 August 2015 (2015-08-01), XP055580353, Retrieved from the Internet <URL:https://www.techbriefs.com/component/content/article/tb/supplements/mcat/features/22668?start=1> [retrieved on 20190411] *
See also references of WO2017189774A1 *

Also Published As

Publication number Publication date
WO2017189774A1 (fr) 2017-11-02
US10488842B2 (en) 2019-11-26
JP2019530030A (ja) 2019-10-17
EP3449321A1 (fr) 2019-03-06
KR20190051896A (ko) 2019-05-15
US20190129373A1 (en) 2019-05-02

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